[go: up one dir, main page]

WO2003015053A1 - Procede pour determiner une voie de circulation modele - Google Patents

Procede pour determiner une voie de circulation modele Download PDF

Info

Publication number
WO2003015053A1
WO2003015053A1 PCT/EP2002/008480 EP0208480W WO03015053A1 WO 2003015053 A1 WO2003015053 A1 WO 2003015053A1 EP 0208480 W EP0208480 W EP 0208480W WO 03015053 A1 WO03015053 A1 WO 03015053A1
Authority
WO
WIPO (PCT)
Prior art keywords
model
determined
roadway
course
sensor
Prior art date
Application number
PCT/EP2002/008480
Other languages
German (de)
English (en)
Inventor
Ulrich Lages
Jan Sparbert
Original Assignee
Ibeo Automobile Sensor Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ibeo Automobile Sensor Gmbh filed Critical Ibeo Automobile Sensor Gmbh
Priority to DE50214011T priority Critical patent/DE50214011D1/de
Priority to AT02764811T priority patent/ATE449396T1/de
Priority to JP2003519905A priority patent/JP2004538474A/ja
Priority to US10/485,833 priority patent/US20040240710A1/en
Priority to EP02764811A priority patent/EP1421568B1/fr
Publication of WO2003015053A1 publication Critical patent/WO2003015053A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Definitions

  • Model lane width and the position of at least one model lane edge can be calculated relative to the sensor. With these model parameters, the position of the model road edges relative to the sensor can also be determined.
  • Long-range areas can basically be selected. However, when the method is carried out iteratively, they are preferably changed in the course of the method in accordance with the number and / or position of the object points and, if appropriate, the model roadway course, the boundary distances being able to be adapted particularly preferably between a respective fixed lower and upper barrier. This increases the accuracy of the determination, since the selection of the points can be adapted to the conditions of the roadway or the detected objects according to their significance.
  • the size of the near and / or the far range can be determined particularly preferably as a function of at least one of the course parameters, which can be done in particular by adapting the upper limit distances. In this way, it can be taken into account that, in particular in tight curves, objects on the opposite side of the road may overlap from the point of view of the sensor or may appear to be lying on one side of the road.
  • a vertical on a longitudinal axis of the sensor is particularly preferably used as the axis in one of the variants described.
  • This longitudinal axis can in particular be the longitudinal axis of a vehicle on which the sensor is held.
  • a vertical line can very particularly preferably be used a longitudinal axis of the sensor corrected by a yaw angle of the sensor can be used.
  • the yaw angle of the sensor is understood here to mean the yaw angle of a vehicle to which the sensor is attached. This yaw angle can be determined from corresponding vehicle data, it being assumed that the vehicle initially stood at a predetermined angle, in particular parallel, to the edge of the road. In principle, however, it is also possible to determine the yaw angle in subsequent processing steps from tracking the movement of the sensor relative to the model roadway.
  • a line is first defined by the position and course of the model roadway center in the previous iteration before the determination of the position parameters.
  • the object points in the close range on one side of the line are then used as object points delimiting the roadway on this side and the object points in the close range on the other side of the line as object points delimiting the roadway on this other side.
  • the procedure is particularly simple if the model roadway center is used as the guide curve.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Optics & Photonics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Image Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

L'invention concerne un procédé servant à déterminer une voie de circulation modèle sur la base de coordonnées de points d'objets reproduisant au moins approximativement une voie de circulation, notamment d'objets délimitant la voie de circulation, qui ont été obtenus au moyen d'au moins un capteur optoélectronique, notamment d'un balayeur laser. Dans une première étape, une zone proche et une zone éloignée sont définies à l'intérieur de la zone de vision du capteur. Dans une deuxième étape, des valeurs de paramètres de position sont déterminées à partir des coordonnées de points d'objets dans la zone proche, ces valeurs permettant de déterminer une largeur de voie de circulation modèle et la position d'au moins un bord de voie de circulation modèle par rapport au capteur. Dans une troisième étape, des valeurs de paramètres de tracé représentant le tracé de la voie de circulation modèle sont déterminées à partir des coordonnées de points d'objets dans la zone éloignée et en utilisant les paramètres de position.
PCT/EP2002/008480 2001-08-07 2002-07-30 Procede pour determiner une voie de circulation modele WO2003015053A1 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE50214011T DE50214011D1 (de) 2001-08-07 2002-07-30 Verfahren zur bestimmung einer modellfahrbahn
AT02764811T ATE449396T1 (de) 2001-08-07 2002-07-30 Verfahren zur bestimmung einer modellfahrbahn
JP2003519905A JP2004538474A (ja) 2001-08-07 2002-07-30 モデル道路を決定する方法
US10/485,833 US20040240710A1 (en) 2001-08-07 2002-07-30 Method for determining a model roadway
EP02764811A EP1421568B1 (fr) 2001-08-07 2002-07-30 Procede pour determiner une voie de circulation modele

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10138641.9 2001-08-07
DE10138641A DE10138641A1 (de) 2001-08-07 2001-08-07 Verfahren zur Bestimmung einer Modellfahrbahn

Publications (1)

Publication Number Publication Date
WO2003015053A1 true WO2003015053A1 (fr) 2003-02-20

Family

ID=7694604

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2002/008480 WO2003015053A1 (fr) 2001-08-07 2002-07-30 Procede pour determiner une voie de circulation modele

Country Status (6)

Country Link
US (1) US20040240710A1 (fr)
EP (1) EP1421568B1 (fr)
JP (1) JP2004538474A (fr)
AT (1) ATE449396T1 (fr)
DE (2) DE10138641A1 (fr)
WO (1) WO2003015053A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011131165A1 (fr) * 2010-04-20 2011-10-27 Conti Temic Microelectronic Gmbh Procédé de détermination du tracé de la chaussée pour un véhicule automobile
US8126640B2 (en) 2002-04-27 2012-02-28 Robert Bosch Gmbh Method and device for predicting the course of motor vehicles

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10346573B4 (de) 2003-10-07 2021-07-29 Robert Bosch Gmbh Umfelderfassung mit Kompensation der Eigenbewegung für sicherheitskritische Anwendungen
DE102004003848A1 (de) * 2004-01-26 2005-08-11 Ibeo Automobile Sensor Gmbh Verfahren zur Erkennung von gekennzeichneten Gefahr- und/oder Baustellen im Bereich von Fahrbahnen
DE102004003850A1 (de) * 2004-01-26 2005-08-18 Ibeo Automobile Sensor Gmbh Verfahren zur Erkennung von Markierungen auf einer Fahrbahn
DE102004008866A1 (de) * 2004-02-20 2005-09-08 Daimlerchrysler Ag Verfahren zur Signalauswertung eines Umgebungssensors eines Kraftfahrzeuges
USRE46672E1 (en) 2006-07-13 2018-01-16 Velodyne Lidar, Inc. High definition LiDAR system
US8099205B2 (en) * 2008-07-08 2012-01-17 Caterpillar Inc. Machine guidance system
JP5568385B2 (ja) * 2010-06-15 2014-08-06 株式会社Ｉｈｉエアロスペース 無人移動車の走行経路計画方法
US8543254B1 (en) * 2012-03-28 2013-09-24 Gentex Corporation Vehicular imaging system and method for determining roadway width
DE102012218362A1 (de) 2012-10-09 2014-04-24 Bayerische Motoren Werke Aktiengesellschaft Schätzung des Straßentyps mithilfe von sensorbasierten Umfelddaten
US10627490B2 (en) 2016-01-31 2020-04-21 Velodyne Lidar, Inc. Multiple pulse, LIDAR based 3-D imaging
US20170270378A1 (en) * 2016-03-16 2017-09-21 Haike Guan Recognition device, recognition method of object, and computer-readable recording medium
CA3017735C (fr) 2016-03-19 2023-03-14 Velodyne Lidar, Inc. Eclairage et detection integres pour imagerie 3d basee sur lidar
EP3229173B1 (fr) * 2016-04-05 2018-10-03 Conti Temic microelectronic GmbH Procédé et appareil permettant de déterminer un trajet traversable
CA3024510C (fr) 2016-06-01 2022-10-04 Velodyne Lidar, Inc. Lidar a balayage a pixels multiples
CN110914705B (zh) 2017-03-31 2024-04-26 威力登激光雷达美国有限公司 用于集成lidar照明功率控制的设备、系统和方法
EP3612798A4 (fr) 2017-05-08 2021-01-13 Velodyne Lidar, Inc. Acquisition et commande de données lidar
US11294041B2 (en) 2017-12-08 2022-04-05 Velodyne Lidar Usa, Inc. Systems and methods for improving detection of a return signal in a light ranging and detection system
DE102018204246A1 (de) * 2018-03-20 2019-09-26 Ford Global Technologies, Llc Verfahren und Vorrichtung zur fehlertoleranten automatisierten dynamischen Echtzeit-Erkennung eines Fahrspurverlaufs
US11971507B2 (en) 2018-08-24 2024-04-30 Velodyne Lidar Usa, Inc. Systems and methods for mitigating optical crosstalk in a light ranging and detection system
US10712434B2 (en) 2018-09-18 2020-07-14 Velodyne Lidar, Inc. Multi-channel LIDAR illumination driver
US11082010B2 (en) 2018-11-06 2021-08-03 Velodyne Lidar Usa, Inc. Systems and methods for TIA base current detection and compensation
US11885958B2 (en) 2019-01-07 2024-01-30 Velodyne Lidar Usa, Inc. Systems and methods for a dual axis resonant scanning mirror
US12061263B2 (en) 2019-01-07 2024-08-13 Velodyne Lidar Usa, Inc. Systems and methods for a configurable sensor system
US10613203B1 (en) 2019-07-01 2020-04-07 Velodyne Lidar, Inc. Interference mitigation for light detection and ranging
DE102020203579A1 (de) 2020-03-20 2021-09-23 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Ermitteln eines Fahrbahnverlaufs
DE102020214022A1 (de) 2020-11-09 2022-05-12 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum automatischen Ausführen einer Fahrfunktion in einem Fahrzeug
DE102021203808A1 (de) 2021-04-16 2022-10-20 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren und Vorrichtung zum Ermitteln eines Fahrbahnverlaufs

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997042521A1 (fr) * 1996-05-08 1997-11-13 Daimler-Benz Aktiengesellschaft Procede de determination de l'etat de la route a l'avance pour vehicules a moteur
US5818355A (en) * 1995-12-26 1998-10-06 Denso Corporation Automotive anti-collision and alarm system
EP1074960A1 (fr) * 1999-07-26 2001-02-07 Pioneer Corporation Procece et apparail de traitement d'images et apparail de navigation et proframme d'ordinateur

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5202742A (en) * 1990-10-03 1993-04-13 Aisin Seiki Kabushiki Kaisha Laser radar for a vehicle lateral guidance system
DE4329608C1 (de) * 1993-09-02 1995-01-19 Kostal Leopold Gmbh & Co Kg Optoelektronische Sensoreinrichtung
KR20000025578A (ko) * 1998-10-13 2000-05-06 윤종용 차로의 모델링 방법 및 그를 이용한 차선 인식 방법
DE19909987C2 (de) * 1999-03-06 2003-04-10 Kostal Leopold Gmbh & Co Kg Anordnung zum Detektieren von auf einer Windschutzscheibe eines Kraftfahrzeuges befindlichen Objekten
US6735557B1 (en) * 1999-10-15 2004-05-11 Aechelon Technology LUT-based system for simulating sensor-assisted perception of terrain
WO2001080068A1 (fr) * 2000-04-14 2001-10-25 Mobileye, Inc. Creation d'un modele de configuration de la chaussee a partir d'une image enregistree par une camera
DE10059156A1 (de) * 2000-11-29 2002-06-06 Sick Ag Abstandsbestimmung
DE10213843A1 (de) * 2002-03-27 2003-10-09 Sick Ag Optoelektronischer Sensor

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5818355A (en) * 1995-12-26 1998-10-06 Denso Corporation Automotive anti-collision and alarm system
WO1997042521A1 (fr) * 1996-05-08 1997-11-13 Daimler-Benz Aktiengesellschaft Procede de determination de l'etat de la route a l'avance pour vehicules a moteur
EP1074960A1 (fr) * 1999-07-26 2001-02-07 Pioneer Corporation Procece et apparail de traitement d'images et apparail de navigation et proframme d'ordinateur

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8126640B2 (en) 2002-04-27 2012-02-28 Robert Bosch Gmbh Method and device for predicting the course of motor vehicles
WO2011131165A1 (fr) * 2010-04-20 2011-10-27 Conti Temic Microelectronic Gmbh Procédé de détermination du tracé de la chaussée pour un véhicule automobile
US10776634B2 (en) 2010-04-20 2020-09-15 Conti Temic Microelectronic Gmbh Method for determining the course of the road for a motor vehicle

Also Published As

Publication number Publication date
DE10138641A1 (de) 2003-02-20
US20040240710A1 (en) 2004-12-02
ATE449396T1 (de) 2009-12-15
EP1421568B1 (fr) 2009-11-18
EP1421568A1 (fr) 2004-05-26
DE50214011D1 (de) 2009-12-31
JP2004538474A (ja) 2004-12-24

Similar Documents

Publication Publication Date Title
WO2003015053A1 (fr) Procede pour determiner une voie de circulation modele
EP2561419B1 (fr) Procédé pour déterminer le parcours sur une voie d'un véhicule
EP1844373B1 (fr) Procede pour prevoir la trajectoire d'automobiles dans des systemes d'assistance au conducteur
DE102009006113B4 (de) Vorrichtung und Verfahren zur Sensorfusion mit dynamischen Objekten
EP1135274B1 (fr) Procede et dispositif permettant de determiner la future trajectoire d'un vehicule
EP1298454B1 (fr) Procédé de reconnaissance et de suivi d'objets
EP1418444B1 (fr) Procédé pour déterminer la vitesse de lacet d'un véhicule
EP1298453B1 (fr) Procédé de reconnaissance et de suivi d'objets
EP1306690B1 (fr) Procédé de reconnaissance et de suivi d'objets
EP0915350A2 (fr) Dispositif pour déterminer des données indicatives de l'évolution des voies de circulation
DE102019112413A1 (de) Verfahren und vorrichtung zur multi-sensor-datenfusion für automatisierte und autonome fahrzeuge
EP1502165A1 (fr) Procede et dispositif pour prevoir la trajectoire de vehicules
EP1634243A1 (fr) Procede et dispositif de localisation d'objets pour des vehicules a moteur
DE102018122374B4 (de) Verfahren zum Bestimmen eines ein Kraftfahrzeug umgebenden Freiraums, Computerprogrammprodukt, Freiraumbestimmungseinrichtung und Kraftfahrzeug
DE102012107885A1 (de) Verfahren zur Bestimmung eines Fahrspurverlaufs für ein Fahrzeug
EP3024709B1 (fr) Fourniture efficace d'informations d'occupation pour l'environnement d'un véhicule
EP1419402B1 (fr) Procede de reconnaissance et de poursuite d'objets
WO2004111938A1 (fr) Procede et dispositif de determination d'objet dans des systemes d'assistance au conducteur pour vehicules automobiles
DE102020128484A1 (de) System und Verfahren zur Vermeidung von Heck-Querverkehrskollisionen
DE102013214631B4 (de) Effizientes Bereitstellen von Belegungsinformationen für das Umfeld eines Fahrzeugs
EP4107545B1 (fr) Procédé d'estimation d'une vitesse intrinsèque
DE19601831C5 (de) Verfahren zur Erkennung von relevanten Objekten
DE102020007057A1 (de) Fahrzeug und Verfahren zur Bestimmung einer Durchfahrtshöhe
DE102019102922A1 (de) Verfahren und Vorrichtung zur Multi-Sensor-Datenfusion für automatisierte und autonome Fahrzeuge
DE102018115895B4 (de) Verfahren und System zur Erkennung von Hindernissen

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NO NZ OM PH PL PT RO RU SD SE SG SI SK SL TJ TM TN TR TT TZ UA UG US UZ VN YU ZA ZM ZW

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BY BZ CA CH CN CO CR CU CZ DE DM DZ EC EE ES FI GB GD GE GH HR HU ID IL IN IS JP KE KG KP KR LC LK LR LS LT LU LV MA MD MG MN MW MX MZ NO NZ OM PH PL PT RU SD SE SG SI SK SL TJ TM TN TR TZ UA UG US UZ VN YU ZA ZM

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR IE IT LU MC NL PT SE SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ UG ZM ZW AM AZ BY KG KZ RU TJ TM AT BE BG CH CY CZ DK EE ES FI FR GB GR IE IT LU MC PT SE SK TR BF BJ CF CG CI GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
WWE Wipo information: entry into national phase

Ref document number: 2002764811

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 2003519905

Country of ref document: JP

REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

WWP Wipo information: published in national office

Ref document number: 2002764811

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 10485833

Country of ref document: US